Caishan Liu

2 accepted papers

2026

State and Contact Force Estimation for Self-Balancing Electric Bicycles

Qufei Zhang, Hua Huang, Jiaming Xiong, Caishan Liu

RA-L 2026

This letter proposes a reliable estimation algorithm to estimate both the state and the wheel-ground contact interaction, which is essential for the stable control of the electric bicycle. The whole electric bicycle is modeled as a rigid four-body structure, and the Lagrangian equations of the first

Cited by 0 Source ↗Scholar ↗

2021

Reduced Dynamics and Control for an Autonomous Bicycle

Jiaming Xiong, Bo Li, Ruihan Yu, Daolin Ma, Wei Wang, Caishan Liu

ICRA 2021poster

In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a second-order nonlinear ordinary differential equation (ODE) that g…

Cited by 9 Source ↗Scholar ↗